Method for operating a driver support system for motor vehicles

ABSTRACT

A support of the operator of the motor vehicle is to be provided in all traffic situations in a simple manner and with low costs, without overburdening the operator of the motor vehicle. In this context, in the following or tracking operation, in which a regulation of the speed of the motor vehicle dependent on the spacing distance to detected target objects that are classified as relevant is carried out, the relevant target objects used for the speed regulation are selected by the operation of an operating element to be operated by the operator of the motor vehicle.

BACKGROUND OF THE INVENTION

Driver support or assistance systems for supporting and unburdening theoperators of motor vehicles have been in testing for several years andpartially already on the market. In this context, especially spacingdistance controlled speed regulation systems, so-called ACC systems(Adaptive Cruise Control) are to be mentioned, with which target objectsare automatically detected in higher speed ranges of the motor vehicle(approx. 40 km/h to 160 km/h), and target objects that are classified asrelevant for one's own driving are reacted to comfortably, that is tosay with limited acceleration or deceleration values, by adaptation ofone's own driving speed. Additionally, the operator of the motor vehiclecan be informed regarding the “danger potential” of target objects by(for example optical or acoustical) warning devices, and can be warnedof potential collisions with rapidly approaching obstacles. The driverassistance systems are generally switched on and off manually by theoperator of the motor vehicle, and can be overridden and/or deactivatedby the driver.

It is desirable to expand the speed range of the motor vehicle for thespeed regulation system toward lower vehicle speeds, and especially alsoto carry out a regulation of the speed of one's own motor vehicle allthe way to a standstill; hereby, for example, a “stop and go” functioncan be realized, by means of which, upon approaching a traffic jam, itis possible to automatically close ranks up to the already-stopped lastvehicle or to stop before other obstacles. However, the acceptance of alarger speed range for the speed regulation, and the desire to have aspeed adaptation that is automatic to the extent possible in theapproaching phase to resting (very slow or standing) target objects,requires a high deceleration capacity of the speed regulation system andalso the inclusion of stationary target objects (especially standingobstacles) into the regulation concept.

In known driver assistance systems, two different operating modes aredefined: in the EP 0,590,588 B1, a normal driving mode is provided forthe “normal” speed range and an overload driving mode is provided forlow vehicle speeds (for example stop and go); in the spacing distancewarning system of the DE 32 22 263 A1, a switch-over between twooperating modes (selective monitoring for the complex traffic, typicalconventional spacing distance monitoring for the “normal” traffic) iscarried out automatically or manually. In this regard it isdisadvantageous that the transitions between the two operating modes arecomplicated, that the constant differentiation between the two operatingmodes overburdens the operator of the motor vehicle (especially theoperator often does not know in which operating mode he is situated atthe moment), and that erroneous reactions of the system in the form ofan unsubstantiated braking reaction result in decelerations that areoften abrupt for the operator of the motor vehicle (it must be madepossible for the motor vehicle to stop automatically before a stationaryor standing obstacle), whereby the acceptance of such a driverassistance system by the operator of the motor vehicle is greatlyimpaired.

SUMMARY OF THE INVENTION

It is the underlying object of the invention to propose a method ofoperating a driver assistance system, with which a simply operatable,powerful and efficient driver assistance system over the entire speedrange of the motor vehicle, with a high safety and reliability, as wellas a high acceptance by the operator of the motor vehicle, is provided.

This object is achieved according to the invention in a method ofoperating a driver assistance system for motor vehicles, in which, in afollowing operation of a motor vehicle following another vehicle, aspeed regulation of the speed of the motor vehicle dependent on thespacing distance to target objects that have been detected andclassified as relevant is carried out, characterized in that therelevant target objects taken into account for the speed regulation inthe following operation are selected by an operation of an operatingelement by an operator of the motor vehicle, and characterized in that,in the selection of the relevant target objects taken into account forthe speed regulation, only moving target objects are taken into accountin a first operating condition and both moving target objects andresting target objects are taken into account in a second operatingcondition, and switching between said first and second operatingconditions is effectuated by the operation of the operating element bythe operator of the motor vehicle.

The invention is based on the underlying recognition, that a significantimprovement of the system capability of the driver assistance system isachieved, and simultaneously the trust of the operator in the driverassistance system enabling a speed regulation all the way to astandstill of the motor vehicle is increased, by inclusion orinvolvement of the operator of the motor vehicle in only relativelyinfrequently arising driving situations. Therefore, according to theinvention, for a driver assistance system ensuring the driving comfortand safety, the relevant target objects that are taken intoconsideration for the speed regulation in the following or trackingoperation mode are selected among the detected (acquired) target objectsdependent on their speed, and dependent on an operation or actuation ofan operating element arranged in the motor vehicle, carried out by theoperator of the motor vehicle; especially among the detected (acquired)target objects, target objects that are moving and classified asrelevant target objects are automatically (always) taken into accountfor the speed regulation, resting (stationary) target objects (forexample standing obstacles), in comparison, only upon the request of theoperator of the motor vehicle, that is to say by the operation oractuation of the operating element arranged in the motor vehicle. Targetobjects with a very low speed are categorized as resting (stationary)target objects (for example pedestrians or very slow vehicles orstanding vehicles), especially such target objects of which the speed isbelow a prescribed threshold value (for example all target objects witha speed of less than 5 km/h). Especially, all resting target objectsthat are detected and classified as relevant target objects can be takeninto consideration for the speed regulation, especially all targetobjects that are detected and classified as relevant target objects arestored and taken into consideration in the speed regulation during theirrelevance until the deactivation of the driver assistance system.

The resting target objects are, however, preferably taken intoconsideration in the selection of the relevant target objects for thespeed regulation only in a sharply time-limited manner, especiallydirectly in connection with the operation or actuation of the operatingelement by the operator of the motor vehicle, especially either onlyduring the duration of the operation or actuation of the operatingelement by the operator of the motor vehicle and/or a short time spanafter the operation or actuation of the operating element carried out bythe operator of the motor vehicle (for example 2 seconds to 3 secondsafter the operation carried out by the operator of the motor vehicle).Moreover, the resting target objects that have been detected (acquired)and classified as relevant target objects already before the operationor actuation of the operating element can be selected for the speedregulation by the operation or actuation of the operating elementcarried out by the operator of the motor vehicle, that is to say can be“confirmed” or “acknowledged” by the operator of the motor vehicle; thisacknowledgment or confirmation can be carried out directly following aninformation of the operator of the motor vehicle regarding the potentialrelevant target objects, for example by an optical information of theoperator of the motor vehicle, for example by means of indicatorelements (for example in a display) of an indicator unit.

Because resting target objects can only be taken into consideration forthe speed regulation in connection with the activity of the operator ofthe motor vehicle, the operator of the motor vehicle is cognizant of hisaction and is also not overburdened: On the one hand, a reaction of thedriver assistance system to a resting target object (a stationaryerroneous target) that is erroneously taken into consideration in thespeed regulation, also only arises directly in connection with theoperation or actuation of the operating element by the operator of themotor vehicle, so that the operator of the motor vehicle already expectsa certain vehicle reaction and thus is prepared for this reaction, thatis to say a possible erroneous reaction of the driver assistance system(which typically involves a sharp deceleration of the motor vehicle)does not meet upon the driver completely unprepared. On the other hand,during the consideration of resting target objects in the selection ofthe target objects relevant for the speed regulation, the input valuesor regulation values (regulation parameters) utilized for the followingor tracking operation mode and therewith for the speed regulation can bechanged or varied in such a manner, especially can be prescribed as“more critical” (that is to say, more-critical threshold values can beallocated thereto), so that the regulation and therewith the driverassistance system becomes more sensitive and quicker, in that theregulation time and/or the reaction time of the speed regulation isshortened; especially, for example, the observation distance (themaximum spacing distance for the selection of relevant target objects bythe distance sensor of the driver assistance system) can be extended,the redundancy of the observation time (the number of the measuringcycles required for the classification of the target objects, especiallythe repetition of the measuring cycles required for the classificationof the target objects as relevant target objects) can be reduced, or thevalues affecting or applying to the deceleration (for example the changeof the deceleration of the motor vehicle or the maximum permissibledeceleration of the motor vehicle) can be increased. Thus, one obtains arobust interference-insensitive driving operation in combination with asensible, rapid reaction to standing obstacles.

In the presented driver assistance system, the following or trackingoperation mode, that is to say the spacing distance dependent speedregulation, is provided in a single operating mode, especially for therange of low speeds all the way to a standstill of the own motorvehicle. The operator of the motor vehicle can thus predict or foreseethe corresponding behavior of the own motor vehicle in each situation,so that a driver assistance system is realized, which is transparent andeasily operatable for the operator. The operating effort or burden forthe operator of the motor vehicle can be held low especially also iffurther functions of the driver assistance system are allocated to theoperating element; especially, through the operation of the operatingelement with a deactivated driver assistance system, the activation ofthe driver assistance system can be made possible, and after astandstill of the motor vehicle the release of the following operationmode (the starting release for the further driving of the motor vehicle)can be made possible upon the removal of the relevant target object.Especially, upon an operation of the operating element, the adequatereaction of the driver assistance system (activation of the driverassistance system or consideration of resting target objects as relevanttarget objects or release of the following operation mode) occursautomatically and unambiguously on the basis of the momentary drivingcondition of the motor vehicle, that is to say the system condition(operating condition) of the driver assistance system and the drivingsituation of the motor vehicle (especially the own speed of the motorvehicle). Hereby, a comfortable support is provided for the operator ofthe motor vehicle especially for the operation on highways, primaryroads, and inner-city major traffic thoroughfares, by means of thereaction, initiated by him, to resting target objects (for examplestopped vehicles as obstacles) and the resumption of the followingoperation mode upon a further motion of the resting target object. Thisespecially applies for particularly tiring traffic jam situations, thatis to say if in nearly still-standing traffic a further motion onlyproceeds at a walking pace; in this context, after the reaction toalready-stopped vehicles at the tail end of the traffic jam and, as thecase may be, after the standstill (stopping) of the own motor vehiclehas occurred, it is made possible to return to the following operationmode, whereby upon removal of the relevant target object, either anautomatic starting to drive with a low speed, that is to say anautomatic creep driving can be taken up (especially in order to adaptoneself to the typical traffic jam motion), and only through theoperation of the operating element a following operation with normalspeed will be made possible, or by the operation of the operatingelement, first a starting of the driving of the own motor vehicle willbe released (that is to say a start release is carried out). Especiallyif an automatic starting of the driving with low speed, that is to sayan automatic creep driving is taken up (here, the braking or stoppingdistances are still small), an uncritical automatic following operationcan be realized (for example by means of a parking sensor arrangementcovering the front of the own motor vehicle, and otherwise provided as aparking aid), and the operator of the motor vehicle can be entirelyunburdened by the driver assistance system in traffic that is nearlystanding still. The driver assistance system can be coupled with furthersensors or monitoring systems, which carry out a deactivation of thedriver assistance system and/or further measures upon certain actions ofthe operator of the motor vehicle; for example to provide safety againsta nodding-off or dozing-off of the operator, or against the operatorgetting out during the driving of the motor vehicle, a monitoring of themotor vehicle door(s) and/or of the safety belt and/or the eyes of theoperator can be carried out, and the operator can be warned bycorresponding acoustic and/or optic and/or haptic or tactile signals.

The driver assistance system can be realized with existing sensortechnologies for the required distance determination, for example bymeans of IR distance sensors or radar distance sensors). The operatingelement, for example embodied as a key or button (especially amulti-function key or button), is arranged in the motor vehiclepreferably so as to be easily reachable by the operator of the motorvehicle, for example integrated in the steering wheel or arranged inproximity to the steering wheel.

The operator of the motor vehicle can be informed (for exampleacoustically and/or optically and/or haptically or tactilely) by thedriver assistance system of several circumstances or conditions,especially that the driver assistance system was activated, that restingtarget objects are being taken into consideration in the speedregulation, that a relevant target object was detected, that analready-detected resting target object must be acknowledged orconfirmed, or that a collision danger with a relevant target objectexists and that a take-over by the operator of the motor vehicle isrecommended, or that the start of the motor vehicle should be released.

BRIEF DESCRIPTION OF THE DRAWINGS

In the following, an example embodiment is explained in detail inconnection with the drawing.

In this regard,

FIGS. 1A and 1B respectively show a schematic top plan view and aschematic perspective view of the underlying principle of the distancedetermination by means of transit time measurement,

FIG. 2 shows a view of the interior space of the motor vehicle with theindicating unit and the operating unit,

FIG. 3 shows a schematically simplified process plan or flow diagram forthe functional operation of the driver assistance system.

DETAILED DESCRIPTION OF A PREFERRED EXAMPLE EMBODIMENT AND OF THE BESTMODE OF THE INVENTION

The driver assistance system conceptualized for supporting the operatorof the motor vehicle especially for the operation on highways, primaryroads, and main traffic thoroughfares in cities is especially alsosuitable for the range of low speeds of the own motor vehicle and of thepreceding vehicles (for example for traffic jam situations); that is tosay a speed regulation dependent on the spacing distance to targetobjects classified as relevant is achieved all the way to a standstillof the own motor vehicle (speed v=0 km/h). Thus, the own motor vehiclereacts by means of the driver assistance system to every target objectthat is moving and classified as relevant in the own driving path orlane, and adapts itself to the speed thereof, and additionally, uponrequest by the operator by operating an operating element, the own motorvehicle reacts by means of the driver assistance system to targetobjects that are resting (stationary) and classified as relevant in theown driving path or driving lane (for example to a motor vehiclestanding at the tail end of a traffic jam); moreover an automatic startof the own motor vehicle can be made possible after the standstillbehind a resting target object and the removal of this target object.

The driver assistance system comprises a distance sensor as a measuringunit for measuring the spacing distance to the preceding vehicle, avehicle regulating arrangement for prescribing the speed or thedeceleration of the own motor vehicle, a rotation rate sensor fordetecting the actual presently existing curve radius, a centralprocessing unit as a control unit, and an interface to the operator ofthe motor vehicle with a display or indicating unit and an operatingunit. The determination of the distance and/or speed and/or accelerationof target objects located in the observation or monitoring range, thatis to say the determination of the spacing distance between the ownmotor vehicle and preceding, oncoming or stationary vehicles, persons,and other reflection objects and/or the speed of the own motor vehiclerelative to preceding, oncoming or stationary vehicles, persons, andother reflection objects, and/or the acceleration of the own motorvehicle relative to preceding, oncoming or stationary vehicles, personsand other reflection objects as a basis for the driver assistance systemmust be determined unambiguously and with high resolution; for examplethe desired distance resolution amounts to 0.1 m, the desired speedresolution 0.3 m/s and the desired acceleration resolution 0.1 m/s².

According to the FIG. 1, the measuring system 10, for example embodiedas an optical measuring system, is implemented of measuring unit 3(transmitting unit 4, receiving unit 5) and control unit 7 (evaluatingunit) on the front side of the motor vehicle 1.

In several successive measuring processes, a pulse-form transmittedsignal 8 in the infrared IR spectral range with the wavelength of, forexample, 850 nm, is emitted from the transmitting unit 4 of themeasuring unit 3; the reflection signal 9 obtained by reflection fromtarget objects 2 (for example the preceding vehicles or obstacles)located in the aperture field 22, that is to say in the distance rangeand angular range (horizontal opening angle a for example 20°; verticalopening angle β for example 3°) monitored by the pulse-form transmittedsignal 8 is detected by the receiving unit 5 of the measuring unit 3 atcertain time points during the pulse pause of the transmitted signal 8,as an analog received signal. The received signal is sampled at certaintime points, and hereby the accuracy of the distance measurement isincreased, by the control unit 7, for example a CPU (Central ProcessingUnit), which simultaneously functions as evaluating unit; the sampledmeasured values are evaluated with respect to the transit time, fromwhich the distance information and/or by processing the distanceinformation, the velocity information and/or the accelerationinformation are obtained, that is to say the spacing distance dz betweenthe motor vehicle as reference object 1 and the reflection object astarget object 2 and/or the speed of the reflection object as targetobject 2 and/or the acceleration of the reflection object as targetobject 2. The aperture field 22 or the monitored angular range (apertureangle α, β) is divided into several target sectors 21 (for example intosixteen target sectors 21) to which respectively one reflection objectto be detected is allocated as target object 2, and by means of theinformation of which an object matrix of the target objects 2 isestablished.

For example, a speed dependent spacing distance regulation is carriedout in the speed range from v=0 km/h to 160 km/h, whereby an activationof the driver assistance system is permitted in the speed range from v=0km/h to 160 k/h. The range of the measuring unit 3 (of the distancesensor) amounts to 150 m, for example. As a maximum approaching speed toa target object 2 (as a maximum permissible relative speed between theown motor vehicle 1 and the target object 2), 60 km/h is prescribed, forexample. The maximum deceleration rate is prescribed dependent on theown speed of the motor vehicle 1; for example 2 m/s² is permitted as amaximum deceleration rate for a speed v of the motor vehicle 1 of >50km/h; 3 m/s² is permitted for a speed v of the motor vehicle 1 between30 km/h and 50 km/h; and 4 m/s² is permitted for a speed v of the motorvehicle 1 of <30 km/h. For a consideration of resting target objects 2,5 m/s², for example, is prescribed as the maximum deceleration rateindependent of the speed v of the motor vehicle 1; but as an alternativehereto, the maximum deceleration rate of the motor vehicle 1 for aconsideration of resting target objects 2 can be selected to be speeddependent, that is to say for smaller speeds v of the motor vehicle 1the deceleration rate can be selected higher.

In FIG. 2, a schematic view of the interior space of the motor vehicle 1with the display or indicating unit 11 with indicating elements 12, 13,14 and the operating unit 15 with operating elements 16, 17, 18, 19 isillustrated.

By means of the indicating unit 11 with at least one indicating element12, 13, 14, various different system conditions of the driver assistancesystem and operating conditions of the motor vehicle 1 in connectionwith the driver assistance system can be communicated to the operator ofthe motor vehicle 1 in optical and/or acoustical manners (for example bymeans of displays, warnings lamps, control lights, buzzers, etc.). Forexample, with an activated driver assistance system, the followinginformations are provided to the operator by means of various differentindicating elements 12, 13 arranged in the area of the instrument panelor dashboard of the motor vehicle 1 and a buzzer 14 arranged in thefootwell area of the motor vehicle 1 (for example by blinking orcontinuously illuminated indicators and/or warning lamps and/oracoustical signals);

-   -   The driver assistance system is activated.    -   A target object 2 is detected and classified as relevant; the        driver assistance system is trying to follow this target object        2 (possible target objects 2 are moving target objects and at        the request of the operator also resting target objects).    -   The measured speed of the target object 2 and the stored maximum        speed for the following operation as the set speed (with a        deactivated driver assistance system, only the stored maximum        speed for the following operation as the set speed).    -   The operation of the brakes of the motor vehicle 1 initiated by        the driver assistance system with the speed regulation.    -   A request to the operator of the motor vehicle 1 for taking over        (to intervene) in a dangerous situation; especially when a        collision danger with a target object 2 having a low speed        (resting or moving) exists in the driving path or lane of the        motor vehicle 1.    -   A request to the operator of the motor vehicle 1 for starting to        drive the standing motor vehicle 1 upon the removal of the        target object 2, or for the release of the following operation.

By means of the operating unit 15 with at least one operating element16, 17, 18, 19, the operator of the motor vehicle 1 can prescribe orselect various different system conditions of the driver assistancesystem or the driving conditions. For example, the following operatingelements are provided for the operator:

-   -   A switch 19 as a general on/off switch for the manual switching        on and off of the driver assistance system.    -   An adjusting wheel 18 for prescribing the following distance        (the distance dz of the own motor vehicle 1 to a target object 2        that has been detected and adapted to, that is to say classified        as relevant) in the following operation, and simultaneously for        prescribing the stopping distance in a standstill of the own        motor vehicle 1 (the spacing distance dz of the own motor        vehicle 1 to a standing target object 2 at a standstill).    -   An adjusting lever 17 for activating the driver assistance        system with a switched-on driver assistance system (by moving        the adjusting lever in the “+” direction: hereby the momentary        driving speed is taken as the maximum speed or the set speed for        the following operation, or in the “−” direction: hereby the        last stored maximum speed is taken for the following operation        or the set speed is taken for the following operation), and        simultaneously for the variation of the maximum speed or the set        speed for the following operation with an activated driver        assistance system (for example in steps of +/−10 km/h by moving        the adjusting lever in the “+” direction or in the “−”        direction).    -   A multifunction key or button 16 for activating the driver        assistance system with a switched-on driver assistance system        (by pressing the multifunction button 16) for calling up or        selecting resting target objects 2 as relevant target objects 2        with an activated driver assistance system (during the time        duration of pressing the multifunction button 16: hereby a        resting target object 2 that is detected during this time        duration and classified as relevant is stored and used for the        speed regulation) and for the start release with an activated        driver assistance system and a standstill of the own motor        vehicle 1 (by pressing the multifunction button 16: hereby        either the last stored maximum speed for the following operation        or the momentary driving speed is used as the maximum speed or        the set speed for the following operation).    -   The brake pedal 23, through the operation of which the driver        assistance system is deactivated (except for a continuous        operation of the brake pedal 23 at a standstill of the motor        vehicle 1: in this regard, a (re)activation can be achieved by        pressing the multifunction button 16, whereby either the last        stored maximum speed for the following operation or the        momentary driving speed is used as the maximum speed or the set        speed for the following operation); after releasing the brake        pedal 23, the activated motor vehicle 1 first remains in the        resting condition, only after the repeated operation of the        multifunction button 16 (start release) it again takes up the        following operation (hereby it is possible, already in the        waiting condition, to adjust or set the desired maximum speed or        set speed for the following operation).    -   The gas pedal 24, through the operation of which all functions        of the driver assistance system are suspended until the release        of the gas pedal 24.

In the FIG. 3, the various different functional conditions of the driverassistance system are schematically illustrated.

-   -   Activation 30 of the Driver Assistance System:    -   After switching-on 31 of the driver assistance system through        operation of the switch (on/off switch) 19 with a switched-off        driver assistance system, the driver assistance system can be        activated by operation of the adjusting lever 17 or by pressing        the multifunction button 16 in the speed range between 0 km/h        and 160 km/h, especially also after a standstill of the own        motor vehicle 1 with continuous operation of the brake pedal 23;        either the last stored maximum speed for the following operation        32 or the momentary driving speed is used as the maximum speed        or set speed for the following operation 32. A successful        activation of the driver assistance system is communicated to        the operator of the motor vehicle 1, for example by an optical        and/or acoustical signal.    -   The activation 30 of the driver assistance system is not        possible when the speed of the motor vehicle 1 is higher than        160 km/h or when the brake pedal 23 is operated (except for a        continuous operation of the brake pedal 23 in a standstill of        the own motor vehicle 1).    -   Following operation 32:    -   With an activated driver assistance system, either a speed        regulation analogous to a cruise control is carried out, if no        target object 2 has been detected or no target object 2 has been        classified as relevant, or a spacing distance dependent speed        regulation is carried out behind a target object 2 that has been        detected and evaluated as relevant, with a following spacing        distance prescribed by means of the adjusting wheel 18 up to a        standstill of the own motor vehicle 1, that is to say the own        motor vehicle 1 stops behind the target object 2 that has been        detected and evaluated as relevant, if it stops within the range        of the measuring unit 3 (of the distance sensor) of for example        150 m.    -   A warning to the operator of the motor vehicle 1 is carried out        for target objects 2 that are standing still and evaluated as        relevant, as well as upon recognizing dangerous situations,        especially when an intervention of the operator of the motor        vehicle 1 becomes necessary, for example when approaching a        vehicle with a relative speed between the own motor vehicle 1        and the target object 2 that is too great for the driver        assistance system, or upon the detection of a stationary        obstacle in the own driving path or lane.    -   The prescribed set speed as the maximum speed for the following        operation 32 can be changed at any time with an activated driver        assistance system by operation of the adjusting lever 17, for        example in steps of 10 km/h by operation of the adjusting lever        in the “+” direction or the “−” direction; with a prescribed        input of 0 km/h as the set speed, the own motor vehicle 1 will        be slowly braked to a standstill (automatic stopping without        target object 2).    -   Consideration of resting target objects 33:    -   The approach to an already stationary obstacle is more likely        the exception in normal driving operation; each target object 2        with a very low speed (for example<5 km/h) or very low speed        component in the driving direction of the own motor vehicle 1        will be evaluated as a resting target object 2, for example a        standing vehicle at the end of a traffic jam or a pedestrian or        a motor vehicle crossing into the own driving path or lane.    -   Upon pressing the multifunction button 16, these resting target        objects 2 will be taken into consideration in the distance        dependent speed regulation during the operation duration of the        multifunction button 16, so that, after a confirmation that a        resting target object 2 has been detected and classified as        relevant, which is acoustically and/or optically communicated to        the operator of the motor vehicle 1, the motor vehicle 1 will        stop behind this resting target object 2.    -   Starting release 34:    -   After a standstill of the own motor vehicle 1, the driver        assistance system is activated with a stored maximum speed for        the following operation 32 (set speed) of >0 km/h. Upon pressing        the multifunction button 16, the motor vehicle 1 accelerates up        to the stored maximum speed for the following operation 32 (set        speed), if applicable, with consideration of a new target object        2, if no obstacle is located in front of the own motor vehicle        1. If, to the contrary, an obstacle is located in front of the        own motor vehicle 1, the motor vehicle 1 will remain standing;        after the removal of the obstacle or target object 2, the        operator of the motor vehicle 1 can prescribe a new start        release by pressing the multifunction button 16 (if the operator        does not take any steps within a short time span after the        removal of the obstacle or target object 2, for example within 2        seconds, he will be requested or urged, for example through an        acoustical signal, to provide the start release 34).    -   Overriding of the driver assistance system by the operator:    -   The operator of the motor vehicle 1 maintains the complete        control over the motor vehicle 1 at all times. Upon an operation        of the gas pedal 24, all functions of the driver assistance        system rest until the release of the gas pedal 24; if thereby        the operator accelerates the motor vehicle 1 to a speed value v        that differs by a certain amount Δv from the stored maximum        speed for the following operation 32 (set speed) (for example by        more than 20 km/h greater than the stored maximum speed for the        following operation 32), in order to avoid abrupt braking        processes upon release of the gas pedal 24, the stored maximum        speed for the following operation 32 is correspondingly adjusted        by Δv. Upon an operation of the brake pedal 23, the driver        assistance system is deactivated and must again be reactivated        by the operator (if desired).    -   Deactivation of the driver assistance system:    -   With an activated driver assistance system, the driver        assistance system is deactivated by operation of the brake pedal        23, especially also after a standstill of the own motor vehicle        1 upon releasing the brake pedal 23, which was being pressed by        the operator, and a renewed pressing-down of the brake pedal 23.    -   With a switched-on driver assistance system, through operation        of the on/off switch 19, the driver assistance system can be        switched off.    -   Upon recognizing non-specified operating conditions or undefined        situations (for example due to a slippery roadway surface, for        example as a result of ice on the roadway), the driver        assistance system autonomously deactivates itself and provides        an acoustical and/or optical and/or haptic or tactile warning        signal to the operator of the motor vehicle 1.

1. Method for the operation of a driver assistance system for motorvehicles (1), in which, in a following operation (32) of a motor vehicle(1) following another vehicle, a speed regulation of the speed of themotor vehicle (1) dependent on the spacing distance (dz) to targetobjects (2) that have been detected and classified as relevant iscarried out, characterized in that the relevant target objects (2) takeninto account for the speed regulation in the following operation (32)are selected by an operation of an operating element (16) by an operatorof the motor vehicle (1), and characterized in that, in the selection ofthe relevant target objects (2) taken into account for the speedregulation, only moving target objects are taken into account in a firstoperating condition, and both moving target objects and resting targetobjects are taken into account in a second operating condition, andswitching between said first and second operating conditions iseffectuated by the operation of the operating element (16) by theoperator of the motor vehicle (1).
 2. Method according to claim 1,characterized in that, in the selection of the relevant target objects(2) taken into account for the speed regulation, all resting targetobjects (2) that are detected and classified as relevant are taken intoconsideration.
 3. Method according to claim 1, characterized in thatresting target objects (2) are taken into consideration in the selectionof the relevant target objects (2) taken into account for the speedregulation, only during the operation of the operating element (16)carried out by the operator of the motor vehicle (1).
 4. Methodaccording to claim 1, characterized in that resting target objects (2)are taken into consideration in the selection of the relevant targetobjects (2) taken into account for the speed regulation, for a shorttime span after the operation of the operating element (16) carried outby the operator of the motor vehicle (1).
 5. Method according to claim1, characterized in that the resting target objects (2) that weredetected already before the operation of the operating element (16) areclassified as relevant target objects (2) by the operation of theoperating element (16) carried out by the operator of the motor vehicle.6. Method according to claim 5, characterized in that the resting targetobjects (2) that were detected already before the operation of theoperating element (16) are indicated to the operator of the motorvehicle (1), and are acknowledged by the operator of the motor vehicle(1) by the operation of the operating element (16).
 7. Method accordingto claim 1, characterized in that all target objects (2) classified asrelevant are taken into account for the speed regulation until thedeactivation of the driver assistance system.
 8. Method according toclaim 1, characterized in that, during the consideration of restingtarget objects (2) in the selection of the relevant target objects (2)taken into account for the speed regulation, the regulation values ofthe driver assistance system upon which the following operation (32) isbased are varied in such a manner that the regulation time and/or thereaction time of the speed regulation is shortened.
 9. Method accordingto claim 8, characterized in that, during the consideration of restingtarget objects (2) in the selection of the relevant target objects (2)taken into account for the speed regulation, at least one of thefollowing features is provided: faster changes of the regulation valuesin the speed regulation are permitted, the regulation values are set toa critical threshold value, and a redundancy for the speed regulation isreduced.
 10. Method according to claim 8, characterized in that, duringthe consideration of resting target objects (2) in the selection of therelevant target objects (2) taken into account for the speed regulation,at least one of the following features is provided: a maximum spacingdistance (dz) for the detection of target objects (2) is expanded, anumber of measuring cycles used for the classification of the targetobjects (2) is reduced, a change of a deceleration of the motor vehicle(1) is increased, and a maximum permissible deceleration of the motorvehicle (1) is increased.
 11. Method according to claim 1, characterizedin that, during the consideration of resting target objects (2) in theselection of the relevant target objects (2) taken into account for thespeed regulation, upon the detection of a resting target object (2), areturn notification to the operator of the motor vehicle (1) takesplace.
 12. Method according to claim 1, characterized in that, uponrecognizing a collision danger with a relevant target object (2), areturn notification to the operator of the motor vehicle (1) takesplace.
 13. Method according to claim 1, characterized in that at leastone of an acoustical, optical, haptic or tactile return notification tothe operator of the motor vehicle (1) takes place.
 14. Method accordingto claim 1, characterized in that an activation of the driver assistancesystem is carried out by operation of the operating element (16) with adeactivated driver assistance system.
 15. Method according to claim 1,characterized in that the following operation (32) is released byoperation of the operating element (16) after the standstill of themotor vehicle (1) behind a relevant target object (2).
 16. Methodaccording to claim 15, characterized in that the operating element (16)must be operated by the operator of the motor vehicle (1) directly afterthe removal of the relevant target object (2) for releasing thefollowing operation (32).
 17. Method according to claim 15,characterized in that, after the removal of the relevant target object(2), the motor vehicle (1) automatically transitions into a creepingdriving with speed regulation, and in that the following operation (32)with normal speed is released by the operation of the operating element(16).
 18. Method according to claim 1, characterized in that theoperation of the operating element (16) is carried out on a steeringwheel of the motor vehicle (1).
 19. Method according to claim 1,characterized in that a button is operated as the operating element(16).
 20. A method of operating a motor vehicle having a driverassistance system including an operating element to be operated by adriver of the motor vehicle, said method comprising: a) driving saidmotor vehicle at a driving speed according to a following mode of saiddriver assistance system, in which said motor vehicle follows anothervehicle located ahead of said motor vehicle; b) detecting target objectslocated ahead of said motor vehicle, including substantially stationarytarget objects having a speed below a specified threshold and movingtarget objects having a speed at or above said specified threshold; c)evaluating and respectively classifying at least some of said targetobjects as relevant target objects or non-relevant target objects; d)determining a spacing distance between said motor vehicle and at leastone of said relevant target objects; e) regulating said driving speeddependent on said spacing distance; and f) in response to and dependenton an operation of said operating element by said driver, selecting andactivating a respective desired one of and switching between: a firstoperating condition of said following mode in which only said movingtarget objects are considered for said classifying as said relevanttarget objects, and a second operating condition of said following modein which both said moving target objects and said substantiallystationary target objects are considered for said classifying as saidrelevant target objects.
 21. The method according to claim 20, whereinsaid specified threshold is a speed value not more than 5 km/h.
 22. Themethod according to claim 20, wherein said second operating condition isactivated only during an active operation of said operating element bysaid driver, and otherwise said first operating condition is activated.23. The method according to claim 20, wherein said second operatingcondition is activated only during and for a predetermined limited timefollowing an active operation of said operating element by said driver,and otherwise said first operating condition is activated.
 24. Themethod according to claim 20, wherein said driver assistance systemfurther includes a switch element distinct from said operating element,and said method further comprises a preliminary step of actuating saidfollowing mode in response to and dependent on an actuation of saidswitch element by said driver.
 25. The method according to claim 20,further comprising a preliminary step of activating said driverassistance system from a switched-off state in response to and dependenton an operation of said operating element by said driver.
 26. The methodaccording to claim 20, further comprising, after a standstill of saidmotor vehicle with said driving speed being equal to zero, re-enablingand resuming said following mode with said driving speed being greaterthan zero in response to an operation of said operating element by saiddriver.